کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
736714 893886 2011 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Swimming microrobot actuated by two pairs of Helmholtz coils system
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Swimming microrobot actuated by two pairs of Helmholtz coils system
چکیده انگلیسی

Various electromagnetic based actuation (EMA) methods have been proposed for the actuation of microrobots. The advantage of EMA is that it can generate a wireless driving force for the microrobot, and this is the reason why many researchers have focused on the EMA driven microrobot. This paper proposes a swimming microrobot driven by an external alternating magnet field using two pairs of Helmholtz coils. The microrobot with a fish like shape consists of a buoyant robot body, a permanent magnet, and a fin. Especially, the fin is directly linked to the permanent magnet and is swung by the alternating magnet field. The external alternating magnetic field generates the propulsion and steering force of the microrobot. In this paper, firstly, we design and fabricate the EMA coil system and the tadpole type microrobot. Secondly, we propose the locomotive mechanism of the microrobot using EMA. Thirdly, we set up the control system for the EMA driven microrobot. Finally, through various experiments, we demonstrate and evaluate the performance of the swimming microrobot.

Research highlights
► Swimming microrobot driven by an external alternating magnet field.
► External magnetic field using two pairs of Helmholtz coils.
► 2D swimming tadpole type microrobot.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 21, Issue 1, February 2011, Pages 357–364
نویسندگان
, , , , ,